Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

actuators.cpp@111:43c0881fe7e7, 2015-10-27 (annotated)

Committer:
annesteenbeek
Date:
Tue Oct 27 17:10:33 2015 +0000
Revision:
111:43c0881fe7e7
Parent:
110:a6439e13be8b
Child:
112:7b964afb97b4
working calibration and correct directions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 13:4837b36b9a68 1 #include "actuators.h"
annesteenbeek 13:4837b36b9a68 2 #include "PID.h"
annesteenbeek 13:4837b36b9a68 3 #include "mbed.h"
annesteenbeek 13:4837b36b9a68 4 #include "config.h"
annesteenbeek 13:4837b36b9a68 5 #include "encoder.h"
annesteenbeek 25:874675516927 6 #include "HIDScope.h"
annesteenbeek 107:de47331612d9 7 #include "buttons.h"
annesteenbeek 107:de47331612d9 8 #include "Servo.h"
annesteenbeek 98:25528494287d 9
annesteenbeek 109:026abd708dce 10 // Motor control constants
annesteenbeek 109:026abd708dce 11 #define pwm_frequency 50000 // still High, could be lowered
annesteenbeek 109:026abd708dce 12 #define PI 3.14159265
annesteenbeek 106:1773bf7b95c5 13
annesteenbeek 109:026abd708dce 14 // functions for controlling the motors
annesteenbeek 109:026abd708dce 15 bool motorsEnable = false;
annesteenbeek 109:026abd708dce 16 bool safetyOn = true;
annesteenbeek 76:0aa90e728e4a 17
annesteenbeek 6:b957d8809e7c 18
annesteenbeek 109:026abd708dce 19 double encoder1Counts = 0;
annesteenbeek 109:026abd708dce 20 double encoder2Counts = 0;
annesteenbeek 68:21cb054f1399 21
annesteenbeek 109:026abd708dce 22 bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 109:026abd708dce 23 bool direction2 = false;
annesteenbeek 6:b957d8809e7c 24
annesteenbeek 109:026abd708dce 25 double motor1Pos = 0;
annesteenbeek 109:026abd708dce 26 double motor2Pos = 0;
annesteenbeek 6:b957d8809e7c 27
annesteenbeek 109:026abd708dce 28 double motor1Speed = 0;
annesteenbeek 109:026abd708dce 29 double motor2Speed = 0;
annesteenbeek 6:b957d8809e7c 30
annesteenbeek 109:026abd708dce 31 double motor1SetSpeed = 0;
annesteenbeek 109:026abd708dce 32 double motor2SetSpeed = 0;
annesteenbeek 6:b957d8809e7c 33
annesteenbeek 109:026abd708dce 34 double motor1PWM = 0;
annesteenbeek 109:026abd708dce 35 double motor2PWM = 0;
annesteenbeek 6:b957d8809e7c 36
annesteenbeek 109:026abd708dce 37 // Set PID values
annesteenbeek 109:026abd708dce 38 double Kp1 = 1;
annesteenbeek 109:026abd708dce 39 double Ki1 = 0;
annesteenbeek 109:026abd708dce 40 double Kd1 = 0;
annesteenbeek 0:525558a26464 41
annesteenbeek 109:026abd708dce 42 double Kp2 = 0.008;
annesteenbeek 109:026abd708dce 43 double Ki2 = 0.08;
annesteenbeek 109:026abd708dce 44 double Kd2 = 0;
annesteenbeek 20:3cba803cd771 45
annesteenbeek 109:026abd708dce 46 double motor1PrevCounts = 0;
annesteenbeek 109:026abd708dce 47 double motor2PrevCounts = 0;
annesteenbeek 109:026abd708dce 48 double prevTime = 0;
annesteenbeek 109:026abd708dce 49 double now = 0;
annesteenbeek 109:026abd708dce 50 double timechange;
annesteenbeek 109:026abd708dce 51
annesteenbeek 109:026abd708dce 52 // Set servo values
annesteenbeek 110:a6439e13be8b 53 double servoSpeed = 0;
annesteenbeek 109:026abd708dce 54 const int servoStartPos = 1300; // Servo ranges from 600ms(-90) to 2000ms(90), 1300 is 0 deg
annesteenbeek 26:0a9e4147a31a 55
annesteenbeek 109:026abd708dce 56 // Set calibration values
annesteenbeek 111:43c0881fe7e7 57 double motor1CalSpeed = -5; // deg/sec
annesteenbeek 111:43c0881fe7e7 58 double motor2CalSpeed = 5;
annesteenbeek 109:026abd708dce 59 bool springHit = false;
annesteenbeek 109:026abd708dce 60 float lastCall = 0;
annesteenbeek 109:026abd708dce 61 bool calibrating1 = true;
annesteenbeek 109:026abd708dce 62 bool calibrating2 = false;
annesteenbeek 111:43c0881fe7e7 63 double looseTime = 0;
annesteenbeek 98:25528494287d 64
annesteenbeek 109:026abd708dce 65 // Create object instances
annesteenbeek 109:026abd708dce 66 // Safety Pin
annesteenbeek 109:026abd708dce 67 DigitalIn safetyIn(safetyPin);
annesteenbeek 32:2006977785f5 68
annesteenbeek 109:026abd708dce 69 // Initialze motors
annesteenbeek 109:026abd708dce 70 PwmOut motor1(motor1PWMPin);
annesteenbeek 109:026abd708dce 71 PwmOut motor2(motor2PWMPin);
annesteenbeek 109:026abd708dce 72
annesteenbeek 109:026abd708dce 73 // initialize Servo
annesteenbeek 109:026abd708dce 74 Servo servo(servoPin);
annesteenbeek 98:25528494287d 75
annesteenbeek 98:25528494287d 76
annesteenbeek 109:026abd708dce 77 // Initialize encoders
annesteenbeek 109:026abd708dce 78 Encoder encoder1(enc1A, enc1B);
annesteenbeek 109:026abd708dce 79 Encoder encoder2(enc2A, enc2B);
annesteenbeek 25:874675516927 80
annesteenbeek 109:026abd708dce 81 // Set direction pins
annesteenbeek 109:026abd708dce 82 DigitalOut motor1Dir(motor1DirPin);
annesteenbeek 109:026abd708dce 83 DigitalOut motor2Dir(motor2DirPin);
annesteenbeek 26:0a9e4147a31a 84
annesteenbeek 109:026abd708dce 85 // create PID instances
annesteenbeek 109:026abd708dce 86 PID motor1PID(&motor1Speed, &motor1PWM, &motor1SetSpeed, Kp1, Ki1, Kd1);
annesteenbeek 109:026abd708dce 87 PID motor2PID(&motor2Speed, &motor2PWM, &motor2SetSpeed, Kp2, Ki2, Kd2);
annesteenbeek 31:8fbee6c92753 88
annesteenbeek 109:026abd708dce 89 Timer t;
annesteenbeek 25:874675516927 90
annesteenbeek 25:874675516927 91 void motorInit(){
annesteenbeek 25:874675516927 92
annesteenbeek 3:47c76be6d402 93 motor1Dir.write(direction1);
annesteenbeek 3:47c76be6d402 94 motor2Dir.write(direction2);
annesteenbeek 3:47c76be6d402 95
annesteenbeek 3:47c76be6d402 96 // Set motor PWM period
annesteenbeek 3:47c76be6d402 97 motor1.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 98 motor2.period(1/pwm_frequency);
annesteenbeek 55:ee5257fb73df 99
annesteenbeek 55:ee5257fb73df 100 motor1PID.SetSampleTime(motorCall);
annesteenbeek 55:ee5257fb73df 101 motor2PID.SetSampleTime(motorCall);
annesteenbeek 55:ee5257fb73df 102
annesteenbeek 69:37f75a7d36d8 103 motor1PID.SetOutputLimits(0,1);
annesteenbeek 69:37f75a7d36d8 104 motor2PID.SetOutputLimits(0,1);
annesteenbeek 69:37f75a7d36d8 105
annesteenbeek 30:a20f16bf8dda 106 // Turn PID on
annesteenbeek 55:ee5257fb73df 107 motor1PID.SetMode(AUTOMATIC);
annesteenbeek 55:ee5257fb73df 108 motor2PID.SetMode(AUTOMATIC);
annesteenbeek 98:25528494287d 109
annesteenbeek 98:25528494287d 110 // set servo period
annesteenbeek 107:de47331612d9 111 servo.Enable(servoStartPos, 20000);
annesteenbeek 98:25528494287d 112
annesteenbeek 30:a20f16bf8dda 113 // start the timer
annesteenbeek 29:e4f3455aaa0b 114 t.start();
annesteenbeek 4:80e2280058ed 115 }
annesteenbeek 0:525558a26464 116
annesteenbeek 26:0a9e4147a31a 117
annesteenbeek 0:525558a26464 118 void motorControl(){
annesteenbeek 107:de47331612d9 119 // EMG signals to motor speeds
annesteenbeek 110:a6439e13be8b 120 // const double scaleVel = 20;
annesteenbeek 110:a6439e13be8b 121 // motor1SetSpeed = x_velocity*scaleVel;
annesteenbeek 110:a6439e13be8b 122 // motor2SetSpeed = y_velocity*scaleVel;
annesteenbeek 110:a6439e13be8b 123 // servoSpeed = z_velocity*scaleVel;
annesteenbeek 30:a20f16bf8dda 124 // get encoder positions in degrees
annesteenbeek 30:a20f16bf8dda 125 // 131.25:1 gear ratio
annesteenbeek 30:a20f16bf8dda 126 // getPosition uses X2 configuration, so 32 counts per revolution
annesteenbeek 30:a20f16bf8dda 127 // encoder reads CCW negative, and CW positive, so multiply by -1 to make CCW positive
annesteenbeek 68:21cb054f1399 128
annesteenbeek 68:21cb054f1399 129 encoder1Counts = encoder1.getPosition();
annesteenbeek 68:21cb054f1399 130 encoder2Counts = encoder2.getPosition();
annesteenbeek 68:21cb054f1399 131
annesteenbeek 68:21cb054f1399 132
annesteenbeek 111:43c0881fe7e7 133 motor1Pos = ((encoder1Counts/32)/131.25)*360;
annesteenbeek 111:43c0881fe7e7 134 motor2Pos = ((encoder2Counts/32)/131.25)*360;
annesteenbeek 3:47c76be6d402 135
annesteenbeek 0:525558a26464 136 // check if motor's are within rotational boundarys
annesteenbeek 30:a20f16bf8dda 137 // get encoder speeds in deg/sec
annesteenbeek 66:d1ab5904f8e5 138 now = t.read();
annesteenbeek 50:b0cf07ca53cf 139 timechange = (now - prevTime);
annesteenbeek 111:43c0881fe7e7 140 motor1Speed = ((((encoder1Counts - motor1PrevCounts)/32)/131.25)*360)/timechange;
annesteenbeek 111:43c0881fe7e7 141 motor2Speed = ((((encoder2Counts - motor2PrevCounts)/32)/131.25)*360)/timechange;
annesteenbeek 50:b0cf07ca53cf 142 prevTime = now;
annesteenbeek 68:21cb054f1399 143 motor1PrevCounts = encoder1Counts;
annesteenbeek 68:21cb054f1399 144 motor2PrevCounts = encoder2Counts;
annesteenbeek 29:e4f3455aaa0b 145
annesteenbeek 31:8fbee6c92753 146 // calculate motor setpoint speed in deg/sec from setpoint x/y speed
annesteenbeek 30:a20f16bf8dda 147
annesteenbeek 48:3cf1eaf34926 148
annesteenbeek 48:3cf1eaf34926 149 if(motorsEnable){ // only run motors if switch is enabled
annesteenbeek 32:2006977785f5 150 // compute new PID parameters using setpoint angle speeds and encoder speed
annesteenbeek 31:8fbee6c92753 151 writeMotors();
annesteenbeek 98:25528494287d 152 servoControl();
annesteenbeek 0:525558a26464 153 }else{
annesteenbeek 0:525558a26464 154 // write 0 to motors
annesteenbeek 2:95ba9f6f0128 155 motor1.write(0);
annesteenbeek 2:95ba9f6f0128 156 motor2.write(0);
annesteenbeek 0:525558a26464 157 }
annesteenbeek 0:525558a26464 158 }
annesteenbeek 0:525558a26464 159
annesteenbeek 31:8fbee6c92753 160 void writeMotors(){
annesteenbeek 54:c14c3bc48b8a 161 motor1PID.Compute(); // calculate PID outputs, output changes automatically
annesteenbeek 76:0aa90e728e4a 162 motor2PID.Compute();
annesteenbeek 31:8fbee6c92753 163 // write new values to motor's
annesteenbeek 82:4cc8f9ad3fec 164 if (motor1SetSpeed > 0 ){ // CCW rotation
annesteenbeek 111:43c0881fe7e7 165 direction1 = true;
annesteenbeek 84:df770ec4df61 166 motor1PID.SetOutputLimits(0,1); // change pid output direction
annesteenbeek 31:8fbee6c92753 167 }else{
annesteenbeek 111:43c0881fe7e7 168 direction1 = false; // CW rotation
annesteenbeek 83:8fa05f53fc73 169 motor1PID.SetOutputLimits(-1,0);
annesteenbeek 31:8fbee6c92753 170 }
annesteenbeek 82:4cc8f9ad3fec 171 if (motor2SetSpeed > 0 ){ // CCW rotation
annesteenbeek 111:43c0881fe7e7 172 direction2 = true;
annesteenbeek 83:8fa05f53fc73 173 motor2PID.SetOutputLimits(0,1);
annesteenbeek 68:21cb054f1399 174 }else{
annesteenbeek 111:43c0881fe7e7 175 direction2 = false; // CW rotation
annesteenbeek 83:8fa05f53fc73 176 motor2PID.SetOutputLimits(-1,0);
annesteenbeek 68:21cb054f1399 177 }
annesteenbeek 31:8fbee6c92753 178 motor1Dir.write(direction1);
annesteenbeek 31:8fbee6c92753 179 motor2Dir.write(direction2);
annesteenbeek 69:37f75a7d36d8 180
annesteenbeek 52:2ac9dee099ce 181 motor1.write(abs(motor1PWM));
annesteenbeek 76:0aa90e728e4a 182 motor2.write(abs(motor2PWM));
annesteenbeek 31:8fbee6c92753 183 }
annesteenbeek 31:8fbee6c92753 184
annesteenbeek 0:525558a26464 185 void servoControl(){
annesteenbeek 107:de47331612d9 186 servo.SetPosition(1300 + 700*servoSpeed);
annesteenbeek 25:874675516927 187 }
annesteenbeek 25:874675516927 188
annesteenbeek 106:1773bf7b95c5 189 bool calibrateMotors(){
annesteenbeek 98:25528494287d 190 safetyOn = false; // safety springs off
annesteenbeek 98:25528494287d 191 motorsEnable = true; // motors on
annesteenbeek 98:25528494287d 192 while (calibrating1 || calibrating2){
annesteenbeek 98:25528494287d 193 if (calibrating1){
annesteenbeek 111:43c0881fe7e7 194 motor1SetSpeed = motor1CalSpeed;
annesteenbeek 98:25528494287d 195 redLed.write(1); greenLed.write(0); blueLed.write(1);
annesteenbeek 111:43c0881fe7e7 196 if(safetyIn.read() !=1 && !springHit){ // check if arm reached safety position
annesteenbeek 98:25528494287d 197 encoder1.setPosition(0); // set motor 1 cal angle
annesteenbeek 111:43c0881fe7e7 198 motor1PrevCounts = 0; // set previous count to prevent speed spike
annesteenbeek 111:43c0881fe7e7 199 motor1CalSpeed = -motor1CalSpeed; // move away
annesteenbeek 98:25528494287d 200 springHit = true;
annesteenbeek 111:43c0881fe7e7 201 looseTime = t.read(); // timer to compensate spring movement
annesteenbeek 98:25528494287d 202 }else{
annesteenbeek 111:43c0881fe7e7 203 // if hit and after is no longer touching spring and 0.5seconds passed
annesteenbeek 111:43c0881fe7e7 204 if(springHit && ((t.read() - looseTime) > 2)){
annesteenbeek 98:25528494287d 205 motor1SetSpeed = 0;
annesteenbeek 98:25528494287d 206 springHit = false;
annesteenbeek 111:43c0881fe7e7 207 calibrating2 = true; // start calibrating 2
annesteenbeek 98:25528494287d 208 calibrating1 = false;
annesteenbeek 98:25528494287d 209 }
annesteenbeek 98:25528494287d 210 }
annesteenbeek 98:25528494287d 211 }
annesteenbeek 98:25528494287d 212 if (calibrating2){
annesteenbeek 111:43c0881fe7e7 213 motor2SetSpeed = motor2CalSpeed;
annesteenbeek 98:25528494287d 214 redLed.write(1); greenLed.write(1); blueLed.write(0);
annesteenbeek 111:43c0881fe7e7 215 if(safetyIn.read() !=1 && !springHit){ // check if arm reached safety position
annesteenbeek 98:25528494287d 216 encoder2.setPosition(0); // set motor 2 cal angle
annesteenbeek 111:43c0881fe7e7 217 motor2PrevCounts = 0; // set previous cunt to prevent speed spike
annesteenbeek 111:43c0881fe7e7 218 motor2CalSpeed = -motor2CalSpeed; // move away
annesteenbeek 98:25528494287d 219 springHit = true;
annesteenbeek 111:43c0881fe7e7 220 looseTime = t.read();
annesteenbeek 98:25528494287d 221 }else{
annesteenbeek 111:43c0881fe7e7 222 if(springHit && ((t.read() - looseTime) > 2)){
annesteenbeek 98:25528494287d 223 motor2SetSpeed = 0;
annesteenbeek 98:25528494287d 224 springHit = false;
annesteenbeek 98:25528494287d 225 calibrating2 = false; // stop calibrating 2
annesteenbeek 98:25528494287d 226 }
annesteenbeek 98:25528494287d 227 }
annesteenbeek 98:25528494287d 228 }
annesteenbeek 111:43c0881fe7e7 229 // now = t.read(); // call motor using timer instead of wait
annesteenbeek 111:43c0881fe7e7 230 // if(now - lastCall > motorCall){
annesteenbeek 98:25528494287d 231 motorControl();
annesteenbeek 111:43c0881fe7e7 232 wait(motorCall); // keep calling PID's with motorCall frequency
annesteenbeek 111:43c0881fe7e7 233 // lastCall = now;
annesteenbeek 111:43c0881fe7e7 234 // }
annesteenbeek 98:25528494287d 235
annesteenbeek 98:25528494287d 236 }
annesteenbeek 111:43c0881fe7e7 237 redLed.write(0); greenLed.write(1); blueLed.write(1);
annesteenbeek 99:7030e9790b1d 238 motorsEnable = false; // turn motor's off again
annesteenbeek 76:0aa90e728e4a 239 safetyOn = true; // turn safety on after callibration
annesteenbeek 110:a6439e13be8b 240 return true; // return true when finished
annesteenbeek 74:75be98779124 241 }
annesteenbeek 74:75be98779124 242
annesteenbeek 74:75be98779124 243
annesteenbeek 74:75be98779124 244 void safety(){
annesteenbeek 74:75be98779124 245 if (safetyOn){
annesteenbeek 81:71e7e98deb2c 246 if (safetyIn.read() != 1){
annesteenbeek 79:cf500b63f349 247 motorsEnable = false;
annesteenbeek 79:cf500b63f349 248 }
annesteenbeek 74:75be98779124 249 }
annesteenbeek 79:cf500b63f349 250 }
annesteenbeek 106:1773bf7b95c5 251
annesteenbeek 106:1773bf7b95c5 252
annesteenbeek 109:026abd708dce 253 //bool kinematics(){
annesteenbeek 107:de47331612d9 254 // // calculate current x and Y
annesteenbeek 107:de47331612d9 255 // X = L2*cos((motor1Pos + motor2Pos)*PI/180) + L1*cos(motor1Pos*PI/180);
annesteenbeek 107:de47331612d9 256 // Y = L2*sin((motor1Pos + motor2Pos)*PI/180) + L1*sin(motor1Pos*PI/180);
annesteenbeek 107:de47331612d9 257 // // check if x and y are within limits
annesteenbeek 107:de47331612d9 258 // // else Store the constraint line
annesteenbeek 107:de47331612d9 259 // // check if movement is in direction of constraint
annesteenbeek 107:de47331612d9 260 // // else return false no movement (anglespeed = 0)
annesteenbeek 107:de47331612d9 261 // // calculate required angle speeds
annesteenbeek 107:de47331612d9 262 // if( (X>Xmax && setXSpeed > 0 )|| \
annesteenbeek 107:de47331612d9 263 // (X<Xmin && setXSpeed < 0 )|| \
annesteenbeek 107:de47331612d9 264 // (Y>Ymax && setYSpeed > 0 )|| \
annesteenbeek 107:de47331612d9 265 // (Y<Ymin && setYSpeed < 0 ) \
annesteenbeek 107:de47331612d9 266 // ){
annesteenbeek 107:de47331612d9 267 // motor1SetSpeed = 0;
annesteenbeek 107:de47331612d9 268 // motor2SetSpeed = 0;
annesteenbeek 107:de47331612d9 269 // return false;
annesteenbeek 107:de47331612d9 270 // break;
annesteenbeek 107:de47331612d9 271 // }
annesteenbeek 107:de47331612d9 272 // motor1SetSpeed = (setXSpeed*cos((motor1Pos + motor2Pos)*PI/180) + \
annesteenbeek 107:de47331612d9 273 // setYSpeed*sin((motor1Pos + motor2Pos)*PI/180))/(L1*sin(motor2Pos*PI/180));
annesteenbeek 107:de47331612d9 274 // motor2SetSpeed = -(setXSpeed*L2*cos((motor1Pos + motor2Pos)*PI/180) + \
annesteenbeek 107:de47331612d9 275 // setYSpeed*L2*sin((motor1Pos + motor2Pos)*PI/180) + \
annesteenbeek 107:de47331612d9 276 // setXSpeed*L1*cos(motor1Pos*PI/180) + \
annesteenbeek 107:de47331612d9 277 // setYSpeed*L1*sin(motor1Pos*PI/180))/(L1*L2*sin(motor2Pos*PI/180));
annesteenbeek 106:1773bf7b95c5 278
annesteenbeek 109:026abd708dce 279 //}